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研究生:楊家俊
研究生(外文):Jia-Jun Yang
論文名稱:以影像處理為基礎之看門狗機器人之設計與研製
論文名稱(外文):Design and Implementation of an Image Processing Based Watchdog Robot
指導教授:李祖聖
指導教授(外文):Tzuu-Hseng S. Li
學位類別:碩士
校院名稱:國立成功大學
系所名稱:電機工程學系碩博士班
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:中文
論文頁數:110
中文關鍵詞:路徑規劃向量場影像處理
外文關鍵詞:image processpath planningvector field
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本論文主要在研究居家使用的看門狗機器人。我們透過一個架設在上方的全域CCD擷取動態環境影像,交由影像擷取卡作數位化處理,再傳送至伺服電腦作為影像辨識之依據,並利用影像處理方式定位機器人與障礙物,以作區分的動作。同時利用向量場的觀念,針對障礙物對機器人的排斥力與目標地的吸引力兩者構成的合力導引機器人到達目標地,以作環境的路徑規劃。其中伺服電腦演算後的控制指令是透過無線傳輸模組傳送給機器人,透過網際網路我們也可以控制機器人,並將架設在機器人身上的無線CCD攝取的畫面傳送給遠端主人。最後電腦的模擬與實驗結果證明整個路徑規劃的可行性。
The purpose of this thesis primarily focuses on design and implementation of the Watchdog Robot for home security. Through grabbing the dynamic environment image from a global CCD, we digitalized it by the image-grabber first and then transmitted it to the server PC as the basis of image identification. During the image process, positioning and identifying the robot and obstacles are our second step. From the same concept of vector field, the repulsive force from the obstacles and the attractive force from the target induce a resultant force to guide the robot reaching the target. The command from the server PC is transmitted to the robot through wireless modem. Moreover one can control the robot via internet and get the image form the wireless CCD mounted on the robot. The simulations and practical experiments demonstrate the feasibility of the whole idea of the path planning.
第一章 看門狗機器人的介紹……………………………………………...1
1.1 簡介…………………………………………………………...2
1.2 章節說明……………………………………………………...5

第二章 看門狗機器人的設計與製作……………………………………..6
2.1 簡介…………………………………………………………. ...6
2.2 硬體架構………………………………………………………7
2.3 軟體架構……………………………………………………..23
2.3.1 硬體描述語言VHDL………………………………...23
2.3.2使用Visual C++演算機器人的行為………………….24
2.4 影像處理系統………………………………………………..24
2.4.1 影像處理及演算單元………………………………...25
2.5 本章總結……………………………………………………..26
第三章 看門狗機器人路徑規劃的設計及控制方法…………………….28
3.1 簡介…………………………………………………………..28
3.2 位能場的觀念………………………………………………..29
3.3 位能場的應用………………………………………………..32
3.4 影像處理於看門狗機器人系統……………………………..35
3.4.1 影像強化……………………………………………...40
3.4.2 邊緣偵測………………………………………...……41
3.4.3 直方圖………………………………………………...42
3.4.4 二值化處理……………………………………...……43
3.4.5 機器人路徑規劃……………………………………...43
3.5 看門狗機器人的整體架構…………………………………..44
3.6 網際網路遙控看門狗機器人………………………………..47
3.6.1 OSI及TCP/IP 架構………………………….……….47
3.6.2 Gateway伺服監控系統設計………………………….50
3.6.3 遠端監控網頁之設計………………………………...51
3.6.4 以電力線為傳輸介面之伺服端Gateway設計………53
3.7 車體運動方程式……………………………………………..54
3.8 模糊向量場控制器設計……………………………………..57
3.8.1 模糊理論……………………………………………...57
3.8.2 模糊邏輯控制器的應用與設計……………………...58
3.9 本章總結……………………………………………………..65
第四章 看門狗機器人路徑規劃的實現與模擬………………………….66
4.1 簡介…………………………………………………………..66
4.2 看門狗機器人的路徑規劃實現……………………………..67
4.2.1 機器人的定位………………………………………...67
4.2.2 環境障礙物的搜尋…………………………………...70
4.2.3 看門狗機器人整體辨識……………………………...71
4.2.4 看門狗機器人的行進方向調整……………………...78
4.2.5 使用位能場(向量場)於機器人導向的數學模式……81
4.3 路徑規劃的模擬與實現……………………………………..83
4.3.1 無障礙物環境之路徑規劃…………………………...83
4.3.2 有障礙物環境之路徑規劃…………………………...86
4.3.3 移動中障礙物環境之路徑規劃……………………...92
4.4 看門狗機器人實現實際圖…………………………………..96
4.5 本章總結……………………………………………………101
第五章 結論與未來展望……………………………………………...…102
參考文獻………………………………………………………………….104
自傳……………………………………………………………………….110
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